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7
CiA 402 DRIVE PROFILE
7.1
PDS state transitions
The internal state of the servo amplifier is managed by the PDS state defined in the CiA 402 drive profile specification. After
the PDO communication is established (after the AL state has reached "Operational"), the status is controlled by the master
station transmitting commands (by setting Controlword) in accordance with the following table. Once the state transitions from
"Not ready to switch on", which is right after turning on the power supply, to "Operation enabled", the servo motor becomes
ready to operate.
(2)
(12)
(10)
(3)
(4)
(16)
Quick stop
active
(11)
Transition by slave
Transition by master
Transition by slave or master
Transition No.
Event
(0)
Power supply is turned on
(1)
Transitions automatically when the power supply is turned on
(2)
Transitions with the "Shutdown" command from the master station
(3)
Transitions with the "Switch On" command from the master station
(4)
Transitions with the "Enable Operation" command from the master station
(5)
Transitions with the "Disable Operation" command from the master station
Transitions when RD (Ready) is turned off
(6)
Transitions with the "Shutdown" command from the master station
(7)
Transitions with the "Disable Voltage" command or "Quick Stop" command from
the master station
(8)
(A) Transitions with the "Shutdown" command from the master station
(B) Transitions when the power supply is turned off
(C) Transitions in the servo-off state (see the transition No. (5) if RD is turned off
at the same time)
(9)
Transitions with the "Disable Voltage" command from the master station
(10)
Transitions with the "Disable Voltage" command or "Quick Stop" command from
the master station
(11)
(A) Transitions with the "Quick Stop" command from the master station
(B) Transitions when the forced stop signal is turned off
Power on
Power off
(0)
Not ready to
switch on
(1)
(15)
Switch on
disabled
(7)
Ready to
switch on
(6)
(8)
(9)
Switched on
(5)
Operation
enabled
Error occurs
(A): Ready-off, Servo-off
Fault
(14)
(B): Ready-on, Servo-off
Fault reaction
active
(C): Ready-on, Servo-on
(13)
Description
Initialization
Communication setting
The dynamic brake is released.
The operation becomes ready after servo-on.
The operation is disabled after servo-off.
The dynamic brake operates.
The operation is disabled after servo-off and
dynamic braking.
The operation is disabled after servo-off and
dynamic braking.
The dynamic brake operates.
Quick Stop starts.
*1
7 CiA 402 DRIVE PROFILE
7.1 PDS state transitions
7
23
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